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<div class="title">icp.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *    notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *    copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *    disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *    with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *  * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *    contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *    from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_APPS_IN_HAND_SCANNER_ICP_H</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_APPS_IN_HAND_SCANNER_ICP_H</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/in_hand_scanner/boost.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/in_hand_scanner/eigen.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/in_hand_scanner/common_types.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">// Forward declarations</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">class </span>KdTree;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;} <span class="comment">// End namespace pcl</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment">// ICP</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">namespace </span>ihs</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_i_c_p.html">   71</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1ihs_1_1_i_c_p.html">ICP</a></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_normal.html">pcl::PointXYZRGBNormal</a>              <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_normal.html">PointXYZRGBNormal</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointXYZRGBNormal&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">CloudXYZRGBNormal</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">typedef</span> CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keyword">typedef</span> CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keyword">typedef</span> pcl::ihs::Mesh         <a class="code" href="class_mesh.html">Mesh</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keyword">typedef</span> pcl::ihs::MeshPtr      MeshPtr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">typedef</span> pcl::ihs::MeshConstPtr MeshConstPtr;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_i_c_p.html#ade26e4ebe2bf80dd0da14fbbb1d474d1">   85</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_i_c_p.html#ade26e4ebe2bf80dd0da14fbbb1d474d1">ICP</a> ();</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_i_c_p.html#a78d1f3d03d4790c4fb36d1058951a7ae">   92</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_i_c_p.html#a78d1f3d03d4790c4fb36d1058951a7ae">setEpsilon</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> epsilon);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keywordtype">float</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        getEpsilon () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_i_c_p.html#a7fe5381a7f6db8bfc85cafcad88bd3a4">  103</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_i_c_p.html#a7fe5381a7f6db8bfc85cafcad88bd3a4">setMaxIterations</a> (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_iter);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        getMaxIterations () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_i_c_p.html#a1333c4ce712ccc428ced32af5c40f313">  114</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_i_c_p.html#a1333c4ce712ccc428ced32af5c40f313">setMinOverlap</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> overlap);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordtype">float</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        getMinOverlap () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_i_c_p.html#ac7a725ed952984e2a65b26aa950e5f63">  125</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_i_c_p.html#ac7a725ed952984e2a65b26aa950e5f63">setMaxFitness</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> fitness);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordtype">float</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        getMaxFitness () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_i_c_p.html#a7f59c333feba7553e502480b62ecc089">  136</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_i_c_p.html#a7f59c333feba7553e502480b62ecc089">setCorrespondenceRejectionFactor</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> factor);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keywordtype">float</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        getCorrespondenceRejectionFactor () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_i_c_p.html#a9f98c07c5114dc5b9644e0930d86ea5e">  147</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_i_c_p.html#a9f98c07c5114dc5b9644e0930d86ea5e">setMaxAngle</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> angle);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordtype">float</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        getMaxAngle () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_i_c_p.html#a8315321d8f22c0e86d4ee55f8f4493b4">  161</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_i_c_p.html#a8315321d8f22c0e86d4ee55f8f4493b4">findTransformation</a> (<span class="keyword">const</span> MeshConstPtr&amp;              mesh_model,</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                            <span class="keyword">const</span> CloudXYZRGBNormalConstPtr&amp; cloud_data,</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                            <span class="keyword">const</span> Eigen::Matrix4f&amp;           T_init,</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                            Eigen::Matrix4f&amp;                 T_final);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_normal.html">pcl::PointNormal</a>              <a class="code" href="structpcl_1_1_point_normal.html">PointNormal</a>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointNormal&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">CloudNormal</a>;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keyword">typedef</span> CloudNormal::Ptr              CloudNormalPtr;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keyword">typedef</span> CloudNormal::ConstPtr         CloudNormalConstPtr;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_kd_tree.html">pcl::KdTree &lt;PointNormal&gt;</a>        <a class="code" href="classpcl_1_1_kd_tree.html">KdTree</a>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;KdTree&gt;       KdTreePtr;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;const KdTree&gt; KdTreeConstPtr;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        CloudNormalConstPtr</div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_i_c_p.html#a4be17ccf31b43b9423e735b6ec27ad8b">  183</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_i_c_p.html#a4be17ccf31b43b9423e735b6ec27ad8b">selectModelPoints</a> (<span class="keyword">const</span> MeshConstPtr&amp;    mesh_model,</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                           <span class="keyword">const</span> Eigen::Matrix4f&amp; T_inv) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        CloudNormalConstPtr</div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_i_c_p.html#ad88efd31df65c78fbafee5d7d88d8c0f">  191</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_i_c_p.html#ad88efd31df65c78fbafee5d7d88d8c0f">selectDataPoints</a> (<span class="keyword">const</span> CloudXYZRGBNormalConstPtr&amp; cloud_data) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_i_c_p.html#ad90a0ab18c190718ddebdf6832d69640">  200</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_i_c_p.html#ad90a0ab18c190718ddebdf6832d69640">minimizePointPlane</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">CloudNormal</a>&amp; cloud_source,</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;                            <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">CloudNormal</a>&amp; cloud_target,</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;                            Eigen::Matrix4f&amp;   T) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <span class="comment">// Members</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        KdTreePtr kd_tree_;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="comment">// Convergence</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="keywordtype">float</span> epsilon_; <span class="comment">// in cm^2</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="comment">// Registration failure</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_iterations_;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <span class="keywordtype">float</span> min_overlap_; <span class="comment">// [0 1]</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <span class="keywordtype">float</span> max_fitness_; <span class="comment">// in cm^2</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="comment">// Correspondence rejection</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="keywordtype">float</span> factor_;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <span class="keywordtype">float</span> max_angle_; <span class="comment">// in degrees</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    };</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  } <span class="comment">// End namespace ihs</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;} <span class="comment">// End namespace pcl</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_APPS_IN_HAND_SCANNER_ICP_H</span></div>
<div class="ttc" id="aclass_mesh_html"><div class="ttname"><a href="class_mesh.html">Mesh</a></div><div class="ttdef"><b>Definition:</b> surface.h:15</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1_kd_tree.html">pcl::KdTree</a></div><div class="ttdoc">KdTree represents the base spatial locator class for kd-tree implementations.</div><div class="ttdef"><b>Definition:</b> kdtree.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_i_c_p_html"><div class="ttname"><a href="classpcl_1_1ihs_1_1_i_c_p.html">pcl::ihs::ICP</a></div><div class="ttdoc">Iterative Closest Point registration.</div><div class="ttdef"><b>Definition:</b> icp.h:72</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_i_c_p_html_a1333c4ce712ccc428ced32af5c40f313"><div class="ttname"><a href="classpcl_1_1ihs_1_1_i_c_p.html#a1333c4ce712ccc428ced32af5c40f313">pcl::ihs::ICP::setMinOverlap</a></div><div class="ttdeci">void setMinOverlap(const float overlap)</div><div class="ttdoc">The registration fails at the state of convergence if the overlap between the model and data shape is...</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_i_c_p_html_a4be17ccf31b43b9423e735b6ec27ad8b"><div class="ttname"><a href="classpcl_1_1ihs_1_1_i_c_p.html#a4be17ccf31b43b9423e735b6ec27ad8b">pcl::ihs::ICP::selectModelPoints</a></div><div class="ttdeci">CloudNormalConstPtr selectModelPoints(const MeshConstPtr &amp;mesh_model, const Eigen::Matrix4f &amp;T_inv) const</div><div class="ttdoc">Selects the model points that are pointing towards to the camera (data coordinate system = camera coo...</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_i_c_p_html_a78d1f3d03d4790c4fb36d1058951a7ae"><div class="ttname"><a href="classpcl_1_1ihs_1_1_i_c_p.html#a78d1f3d03d4790c4fb36d1058951a7ae">pcl::ihs::ICP::setEpsilon</a></div><div class="ttdeci">void setEpsilon(const float epsilon)</div><div class="ttdoc">Convergence is detected when the change of the fitness between the current and previous iteration bec...</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_i_c_p_html_a7f59c333feba7553e502480b62ecc089"><div class="ttname"><a href="classpcl_1_1ihs_1_1_i_c_p.html#a7f59c333feba7553e502480b62ecc089">pcl::ihs::ICP::setCorrespondenceRejectionFactor</a></div><div class="ttdeci">void setCorrespondenceRejectionFactor(const float factor)</div><div class="ttdoc">Correspondences are rejected if the squared distance is above a threshold. This threshold is initiali...</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_i_c_p_html_a7fe5381a7f6db8bfc85cafcad88bd3a4"><div class="ttname"><a href="classpcl_1_1ihs_1_1_i_c_p.html#a7fe5381a7f6db8bfc85cafcad88bd3a4">pcl::ihs::ICP::setMaxIterations</a></div><div class="ttdeci">void setMaxIterations(const unsigned int max_iter)</div><div class="ttdoc">The registration fails if the number of iterations exceeds the maximum number of iterations.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_i_c_p_html_a8315321d8f22c0e86d4ee55f8f4493b4"><div class="ttname"><a href="classpcl_1_1ihs_1_1_i_c_p.html#a8315321d8f22c0e86d4ee55f8f4493b4">pcl::ihs::ICP::findTransformation</a></div><div class="ttdeci">bool findTransformation(const MeshConstPtr &amp;mesh_model, const CloudXYZRGBNormalConstPtr &amp;cloud_data, const Eigen::Matrix4f &amp;T_init, Eigen::Matrix4f &amp;T_final)</div><div class="ttdoc">Find the transformation that aligns the data cloud (source) to the model mesh (target).</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_i_c_p_html_a9f98c07c5114dc5b9644e0930d86ea5e"><div class="ttname"><a href="classpcl_1_1ihs_1_1_i_c_p.html#a9f98c07c5114dc5b9644e0930d86ea5e">pcl::ihs::ICP::setMaxAngle</a></div><div class="ttdeci">void setMaxAngle(const float angle)</div><div class="ttdoc">Correspondences are rejected if the angle between the normals is bigger than this threshold....</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_i_c_p_html_ac7a725ed952984e2a65b26aa950e5f63"><div class="ttname"><a href="classpcl_1_1ihs_1_1_i_c_p.html#ac7a725ed952984e2a65b26aa950e5f63">pcl::ihs::ICP::setMaxFitness</a></div><div class="ttdeci">void setMaxFitness(const float fitness)</div><div class="ttdoc">The registration fails at the state of convergence if the fitness is bigger than this threshold (set ...</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_i_c_p_html_ad88efd31df65c78fbafee5d7d88d8c0f"><div class="ttname"><a href="classpcl_1_1ihs_1_1_i_c_p.html#ad88efd31df65c78fbafee5d7d88d8c0f">pcl::ihs::ICP::selectDataPoints</a></div><div class="ttdeci">CloudNormalConstPtr selectDataPoints(const CloudXYZRGBNormalConstPtr &amp;cloud_data) const</div><div class="ttdoc">Selects the valid data points. The input cloud is organized -&gt; contains nans which are removed</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_i_c_p_html_ad90a0ab18c190718ddebdf6832d69640"><div class="ttname"><a href="classpcl_1_1ihs_1_1_i_c_p.html#ad90a0ab18c190718ddebdf6832d69640">pcl::ihs::ICP::minimizePointPlane</a></div><div class="ttdeci">bool minimizePointPlane(const CloudNormal &amp;cloud_source, const CloudNormal &amp;cloud_target, Eigen::Matrix4f &amp;T) const</div><div class="ttdoc">Finds the transformation that minimizes the point to plane distance from the source to the target clo...</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_i_c_p_html_ade26e4ebe2bf80dd0da14fbbb1d474d1"><div class="ttname"><a href="classpcl_1_1ihs_1_1_i_c_p.html#ade26e4ebe2bf80dd0da14fbbb1d474d1">pcl::ihs::ICP::ICP</a></div><div class="ttdeci">ICP()</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="astructpcl_1_1_point_normal_html"><div class="ttname"><a href="structpcl_1_1_point_normal.html">pcl::PointNormal</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, together with normal coordinates and the su...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:859</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_normal_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_normal.html">pcl::PointXYZRGBNormal</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGB color, together with normal coo...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:926</div></div>
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